_base_ = ['vidar_OpenScene_mini_1_8_3future.py']

# 添加知识图谱配置
use_knowledge_graph = True
kg_feature_dim = 64
kg_path = '/data0/users/xiazhendong/LQW/vidar_folder/data/nSKG'

# 修改输入模态
input_modality = dict(
    use_lidar=False,
    use_camera=True,
    use_radar=False,
    use_map=False,
    use_external=True,
    use_kg=True)  # 添加知识图谱输入

# 修改模型配置
model = dict(
    use_knowledge_graph=use_knowledge_graph,
    kg_encoder=dict(
        type='KGEncoder',
        in_channels=kg_feature_dim,
        out_channels=256,
        num_layers=2,
    ),
    # 其他配置保持不变
)

# 修改数据加载流程
train_pipeline = [
    # ... 现有的数据处理流程 ...
    dict(type='LoadKnowledgeGraph', 
         use_kg=use_knowledge_graph,
         kg_path=kg_path),
    # ... 其他处理步骤 ...
]

test_pipeline = [
    # ... 现有的数据处理流程 ...
    dict(type='LoadKnowledgeGraph', 
         use_kg=use_knowledge_graph,
         kg_path=kg_path),
    # ... 其他处理步骤 ...
]

data = dict(
    samples_per_gpu=1,
    workers_per_gpu=4,
    train=dict(
        pipeline=train_pipeline,
    ),
    val=dict(
        pipeline=test_pipeline,
    ),
    test=dict(
        pipeline=test_pipeline,
    ),
)